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<a href="_frame_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#ifndef FRAME_H</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#define FRAME_H</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_map_point_8h.html">MapPoint.h</a>&quot;</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#include &quot;../Thirdparty/DBoW2/DBoW2/BowVector.h&quot;</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#include &quot;../Thirdparty/DBoW2/DBoW2/FeatureVector.h&quot;</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_o_r_b_vocabulary_8h.html">ORBVocabulary.h</a>&quot;</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment">//#include &quot;KeyFrame.h&quot;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment">//#include &quot;ORBextractor.h&quot;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#include &lt;opencv2/opencv.hpp&gt;</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespace_o_r_b___s_l_a_m2.html">ORB_SLAM2</a></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;{</div><div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="_frame_8h.html#a9550f0488f3dac9a5c56f0d3c07c01c1">   37</a></span>&#160;<span class="preprocessor">#define FRAME_GRID_ROWS 48</span></div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="_frame_8h.html#a3ef79fa8924a9c5df3cddac58a52ab0c">   38</a></span>&#160;<span class="preprocessor">#define FRAME_GRID_COLS 64</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="keyword">class </span>MapPoint;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="keyword">class </span>KeyFrame;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keyword">class </span>ORBextractor;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_frame.html">   59</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html">Frame</a></div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;{</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html#aa43d601e841ddb7a9f100b0b9afd3b10">Frame</a>();</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="comment">// Copy constructor.</span></div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html#aa43d601e841ddb7a9f100b0b9afd3b10">Frame</a>(<span class="keyword">const</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html">Frame</a> &amp;frame);</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="comment">// Constructor for Monocular cameras.</span></div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html#aa43d601e841ddb7a9f100b0b9afd3b10">Frame</a>(<span class="keyword">const</span> cv::Mat &amp;imGray, <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;timeStamp, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html">ORBextractor</a>* extractor,<a class="code" href="class_d_bo_w2_1_1_templated_vocabulary.html">ORBVocabulary</a>* voc, cv::Mat &amp;K, cv::Mat &amp;distCoef, <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;bf, <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;thDepth);</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="comment">//Frame(const cv::Mat &amp;imGray, const double &amp;timeStamp, ORBextractor* extractor, ORBVocabulary* voc, const float &amp;thDepth);</span></div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="comment">// Extract ORB on the image. 0 for left image and 1 for right image.</span></div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html#a626aef981e9fd9caff63bf93f1abf47f">ExtractORB</a>(<span class="keywordtype">int</span> flag, <span class="keyword">const</span> cv::Mat &amp;im);</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="comment">// Compute Bag of Words representation.</span></div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html#ac748d2318f9a409406dba4910ff5ef8e">ComputeBoW</a>();</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="comment">// Set the camera pose.</span></div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html#a95cf2ea68735ef3e8c2d820eada11bf4">SetPose</a>(cv::Mat Tcw);</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="comment">// Computes rotation, translation and camera center matrices from the camera pose.</span></div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html#a0a18d3024a23f6fa2cab9c7d987598c2">UpdatePoseMatrices</a>();</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="comment">// Returns the camera center.</span></div><div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_frame.html#a48c8983df3a521ed7439d9654b28e390">   85</a></span>&#160;    <span class="keyword">inline</span> cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html#a48c8983df3a521ed7439d9654b28e390">GetCameraCenter</a>(){</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html#a4315630bb510b424d8b089975135199a">mOw</a>.clone();</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    }</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="comment">// Returns inverse of rotation</span></div><div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_frame.html#a96ec2c272f2ecea3f94b8472add80478">   91</a></span>&#160;    <span class="keyword">inline</span> cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html#a96ec2c272f2ecea3f94b8472add80478">GetRotationInverse</a>(){</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html#afda03a992077579e0ed3c20240eef276">mRwc</a>.clone();</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    }</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="comment">// Check if a MapPoint is in the frustum of the camera</span></div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="comment">// and fill variables of the MapPoint to be used by the tracking</span></div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html#a0929e100e3380dba1baba12dfa8904c4">isInFrustum</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_point.html">MapPoint</a>* pMP, <span class="keywordtype">float</span> viewingCosLimit);</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="comment">// Compute the cell of a keypoint (return false if outside the grid)</span></div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html#ae2bc4b1482d2010511da5423d298c9bd">PosInGrid</a>(<span class="keyword">const</span> cv::KeyPoint &amp;kp, <span class="keywordtype">int</span> &amp;posX, <span class="keywordtype">int</span> &amp;posY);</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    vector&lt;size_t&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html#a922a340f438ed0ddd2d7d2a9f95872b6">GetFeaturesInArea</a>(<span class="keyword">const</span> <span class="keywordtype">float</span> &amp;x, <span class="keyword">const</span> <span class="keywordtype">float</span>  &amp;y, <span class="keyword">const</span> <span class="keywordtype">float</span>  &amp;r, <span class="keyword">const</span> <span class="keywordtype">int</span> minLevel=-1, <span class="keyword">const</span> <span class="keywordtype">int</span> maxLevel=-1) <span class="keyword">const</span>;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="comment">// Search a match for each keypoint in the left image to a keypoint in the right image.</span></div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="comment">// If there is a match, depth is computed and the right coordinate associated to the left keypoint is stored.</span></div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="comment">//void ComputeStereoMatches();</span></div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="comment">// Associate a &quot;right&quot; coordinate to a keypoint if there is valid depth in the depthmap.</span></div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="comment">//void ComputeStereoFromRGBD(const cv::Mat &amp;imDepth);</span></div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="comment">// Backprojects a keypoint (if stereo/depth info available) into 3D world coordinates.</span></div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="comment">//cv::Mat UnprojectStereo(const int &amp;i);</span></div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="comment">// Vocabulary used for relocalization.</span></div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;</div><div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_frame.html#a4c54c9963da838cd6fa83a65930bd1b7">  119</a></span>&#160;    <a class="code" href="class_d_bo_w2_1_1_templated_vocabulary.html">ORBVocabulary</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html#a4c54c9963da838cd6fa83a65930bd1b7">mpORBvocabulary</a>;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="comment">// Feature extractor. 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   <span class="comment">// Undistorted Image Bounds (computed once).</span></div><div class="line"><a name="l00298"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_frame.html#ac119d458dd562196240e72b7dbb54f3d">  298</a></span>&#160;    <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html#ac119d458dd562196240e72b7dbb54f3d">mnMinX</a>;</div><div class="line"><a name="l00300"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_frame.html#ade32bf37203ae9578e4bd9a02cc0f7c1">  300</a></span>&#160;    <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html#ade32bf37203ae9578e4bd9a02cc0f7c1">mnMaxX</a>;</div><div class="line"><a name="l00302"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_frame.html#a38d30251e5bf5e44411e83b688dfac97">  302</a></span>&#160;    <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html#a38d30251e5bf5e44411e83b688dfac97">mnMinY</a>;</div><div class="line"><a name="l00304"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_frame.html#ac63dd82413eba002462109e625207ab4">  304</a></span>&#160;    <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html#ac63dd82413eba002462109e625207ab4">mnMaxY</a>;</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;</div><div class="line"><a name="l00310"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_frame.html#a9f57238f88850695d8cf032b5af0dad6">  310</a></span>&#160;    <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html#a9f57238f88850695d8cf032b5af0dad6">mbInitialComputations</a>;</div><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    <span class="comment">// Undistort keypoints given OpenCV distortion parameters.</span></div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    <span class="comment">// Only for the RGB-D case. Stereo must be already rectified!</span></div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    <span class="comment">// (called in the constructor).</span></div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html#a2a97fc690d8c1cd5e975d19440a31657">UndistortKeyPoints</a>();</div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;</div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html#adb622f403aea686f757df4e884ea622a">antidistorsionarProyeccionEquidistante</a>(cv::Mat &amp;puntos);</div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;</div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    <span class="comment">// Computes image bounds for the undistorted image (called in the constructor).</span></div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html#a420f0369833f856df1973410ea39b335">ComputeImageBounds</a>(<span class="keyword">const</span> cv::Mat &amp;imLeft);</div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;</div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    <span class="comment">// Assign keypoints to the grid for speed up feature matching (called in the constructor).</span></div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html#aa3ba21cd44638b322db024cba2b9c19e">AssignFeaturesToGrid</a>();</div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;</div><div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;</div><div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;</div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    <span class="comment">// Rotation, translation and camera center</span></div><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;</div><div class="line"><a name="l00331"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_frame.html#a3923c4b0fc83ab5fdba34ddd823621c6">  331</a></span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html#a3923c4b0fc83ab5fdba34ddd823621c6">mRcw</a>;</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;</div><div class="line"><a name="l00334"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_frame.html#a31b2fa3a66f2855ec0c71c9ba34cfa8f">  334</a></span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html#a31b2fa3a66f2855ec0c71c9ba34cfa8f">mtcw</a>;</div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;</div><div class="line"><a name="l00337"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_frame.html#afda03a992077579e0ed3c20240eef276">  337</a></span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html#afda03a992077579e0ed3c20240eef276">mRwc</a>;</div><div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;</div><div class="line"><a name="l00340"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_frame.html#a4315630bb510b424d8b089975135199a">  340</a></span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html#a4315630bb510b424d8b089975135199a">mOw</a>; <span class="comment">//==mtwc</span></div><div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;};</div><div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;</div><div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;}<span class="comment">// namespace ORB_SLAM</span></div><div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;</div><div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;<span class="preprocessor">#endif // FRAME_H</span></div><div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a4f5187c3a75ef493687fa0582fed0aa8"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a4f5187c3a75ef493687fa0582fed0aa8">ORB_SLAM2::Frame::mpReferenceKF</a></div><div class="ttdeci">KeyFrame * mpReferenceKF</div><div class="ttdoc">KeyFrame de referencia. </div><div class="ttdef"><b>Definition:</b> Frame.h:274</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a3923c4b0fc83ab5fdba34ddd823621c6"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a3923c4b0fc83ab5fdba34ddd823621c6">ORB_SLAM2::Frame::mRcw</a></div><div class="ttdeci">cv::Mat mRcw</div><div class="ttdoc">Matriz R de rotación. </div><div class="ttdef"><b>Definition:</b> Frame.h:331</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a48c8983df3a521ed7439d9654b28e390"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a48c8983df3a521ed7439d9654b28e390">ORB_SLAM2::Frame::GetCameraCenter</a></div><div class="ttdeci">cv::Mat GetCameraCenter()</div><div class="ttdoc">Devuelve el vector de la posición de la cámara, el centro de la cámara. </div><div class="ttdef"><b>Definition:</b> Frame.h:85</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_ac748d2318f9a409406dba4910ff5ef8e"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#ac748d2318f9a409406dba4910ff5ef8e">ORB_SLAM2::Frame::ComputeBoW</a></div><div class="ttdeci">void ComputeBoW()</div><div class="ttdoc">Computa BoW para todos los descriptores del cuadro. </div><div class="ttdef"><b>Definition:</b> Frame.cc:348</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html">ORB_SLAM2::Frame</a></div><div class="ttdoc">Frame representa un cuadro, una imagen, con los puntos singulares detectados. </div><div class="ttdef"><b>Definition:</b> Frame.h:59</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a617c29a929afd74d599c9e41fc71abea"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a617c29a929afd74d599c9e41fc71abea">ORB_SLAM2::Frame::invfx</a></div><div class="ttdeci">static float invfx</div><div class="ttdoc">Inversa del parámetro intrínseco. </div><div class="ttdef"><b>Definition:</b> Frame.h:149</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a09a1957b966542e640ecabc41ec76c16"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a09a1957b966542e640ecabc41ec76c16">ORB_SLAM2::Frame::mvuRight</a></div><div class="ttdeci">std::vector&lt; float &gt; mvuRight</div><div class="ttdoc">-1 para monocular. </div><div class="ttdef"><b>Definition:</b> Frame.h:188</div></div>
<div class="ttc" id="_map_point_8h_html"><div class="ttname"><a href="_map_point_8h.html">MapPoint.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a8153622c07ed98421bd7c7b2b7451b03"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a8153622c07ed98421bd7c7b2b7451b03">ORB_SLAM2::Frame::mFeatVec</a></div><div class="ttdeci">DBoW2::FeatureVector mFeatVec</div><div class="ttdoc">Vector &quot;Feature&quot; correspondiente a los puntos singulares. </div><div class="ttdef"><b>Definition:</b> Frame.h:197</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a0a18d3024a23f6fa2cab9c7d987598c2"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a0a18d3024a23f6fa2cab9c7d987598c2">ORB_SLAM2::Frame::UpdatePoseMatrices</a></div><div class="ttdeci">void UpdatePoseMatrices()</div><div class="ttdoc">Calcula las matrices de posición mRcw, mtcw y mOw a partir de la pose mTcw. </div><div class="ttdef"><b>Definition:</b> Frame.cc:191</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a4c7ed1316a886b9a7c3f02ee13219b8c"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a4c7ed1316a886b9a7c3f02ee13219b8c">ORB_SLAM2::Frame::mvInvScaleFactors</a></div><div class="ttdeci">vector&lt; float &gt; mvInvScaleFactors</div><div class="ttdoc">Inversa de mvScaleFactors. </div><div class="ttdef"><b>Definition:</b> Frame.h:289</div></div>
<div class="ttc" id="class_d_bo_w2_1_1_bow_vector_html"><div class="ttname"><a href="class_d_bo_w2_1_1_bow_vector.html">DBoW2::BowVector</a></div><div class="ttdoc">Vector of words to represent images. </div><div class="ttdef"><b>Definition:</b> BowVector.h:56</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_acd59686475a89bfdfcae316dfa6b6069"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#acd59686475a89bfdfcae316dfa6b6069">ORB_SLAM2::Frame::mnId</a></div><div class="ttdeci">long unsigned int mnId</div><div class="ttdoc">Id incremental que identifica a este frame. </div><div class="ttdef"><b>Definition:</b> Frame.h:270</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_afb4090340565194b372b2ce0d95f16fb"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#afb4090340565194b372b2ce0d95f16fb">ORB_SLAM2::Frame::mbf</a></div><div class="ttdeci">float mbf</div><div class="ttdoc">No usado en monocular. </div><div class="ttdef"><b>Definition:</b> Frame.h:161</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a5c4f28562114c30c6276f2e42aac6607"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a5c4f28562114c30c6276f2e42aac6607">ORB_SLAM2::Frame::mpORBextractorLeft</a></div><div class="ttdeci">ORBextractor * mpORBextractorLeft</div><div class="ttdoc">Extractor usado para extraer descriptores. </div><div class="ttdef"><b>Definition:</b> Frame.h:123</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a7987de59d3b4bf655614e19db0c90278"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a7987de59d3b4bf655614e19db0c90278">ORB_SLAM2::Frame::mTimeStamp</a></div><div class="ttdeci">double mTimeStamp</div><div class="ttdoc">Time stamp de la captura de la imagen. </div><div class="ttdef"><b>Definition:</b> Frame.h:130</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a4232b92ebf890728291ef2a66e7d39bb"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a4232b92ebf890728291ef2a66e7d39bb">ORB_SLAM2::Frame::mvDepth</a></div><div class="ttdeci">std::vector&lt; float &gt; mvDepth</div><div class="ttdoc">-1 para monocular. </div><div class="ttdef"><b>Definition:</b> Frame.h:191</div></div>
<div class="ttc" id="class_d_bo_w2_1_1_feature_vector_html"><div class="ttname"><a href="class_d_bo_w2_1_1_feature_vector.html">DBoW2::FeatureVector</a></div><div class="ttdoc">Vector of nodes with indexes of local features. </div><div class="ttdef"><b>Definition:</b> FeatureVector.h:21</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html">ORB_SLAM2::ORBextractor</a></div><div class="ttdoc">Empaqueta todos los métodos de detección de puntos singulares y extracción de descriptores. </div><div class="ttdef"><b>Definition:</b> ORBextractor.h:85</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_ae2bc4b1482d2010511da5423d298c9bd"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#ae2bc4b1482d2010511da5423d298c9bd">ORB_SLAM2::Frame::PosInGrid</a></div><div class="ttdeci">bool PosInGrid(const cv::KeyPoint &amp;kp, int &amp;posX, int &amp;posY)</div><div class="ttdoc">Calcula las coordenadas de la celda en la grilla, a la que pertenece un punto singular. </div><div class="ttdef"><b>Definition:</b> Frame.cc:331</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a15e0251e1e18b84f385ad817f0e8ba1a"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a15e0251e1e18b84f385ad817f0e8ba1a">ORB_SLAM2::Frame::mThDepth</a></div><div class="ttdeci">float mThDepth</div><div class="ttdoc">No usado en monocular. </div><div class="ttdef"><b>Definition:</b> Frame.h:170</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_ad1dfdeb6378b11477c1b94233f881345"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#ad1dfdeb6378b11477c1b94233f881345">ORB_SLAM2::Frame::invfy</a></div><div class="ttdeci">static float invfy</div><div class="ttdoc">Parámetro intrínseco. </div><div class="ttdef"><b>Definition:</b> Frame.h:151</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a86563de6facec0433e31f726723057e4"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a86563de6facec0433e31f726723057e4">ORB_SLAM2::Frame::mvKeys</a></div><div class="ttdeci">std::vector&lt; cv::KeyPoint &gt; mvKeys</div><div class="ttdoc">Vector de puntos singulares obtenidos por el detector, tal como los devuelve opencv. </div><div class="ttdef"><b>Definition:</b> Frame.h:180</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a4c4b02f27be28aec6cb8bb1bab3f622f"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a4c4b02f27be28aec6cb8bb1bab3f622f">ORB_SLAM2::Frame::mnScaleLevels</a></div><div class="ttdeci">int mnScaleLevels</div><div class="ttdoc">Cantidad de niveles en la pirámide. </div><div class="ttdef"><b>Definition:</b> Frame.h:278</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a420f0369833f856df1973410ea39b335"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a420f0369833f856df1973410ea39b335">ORB_SLAM2::Frame::ComputeImageBounds</a></div><div class="ttdeci">void ComputeImageBounds(const cv::Mat &amp;imLeft)</div><div class="ttdoc">Calcula los vértices del cuadro andistorsionado. </div><div class="ttdef"><b>Definition:</b> Frame.cc:407</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a1ea8a00151931d155747283850467733"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a1ea8a00151931d155747283850467733">ORB_SLAM2::Frame::nNextId</a></div><div class="ttdeci">static long unsigned int nNextId</div><div class="ttdoc">Id incremental con el valor para el frame siguiente. </div><div class="ttdef"><b>Definition:</b> Frame.h:267</div></div>
<div class="ttc" id="class_d_bo_w2_1_1_templated_vocabulary_html"><div class="ttname"><a href="class_d_bo_w2_1_1_templated_vocabulary.html">DBoW2::TemplatedVocabulary</a></div><div class="ttdoc">Generic Vocabulary. </div><div class="ttdef"><b>Definition:</b> TemplatedVocabulary.h:44</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_aa3ba21cd44638b322db024cba2b9c19e"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#aa3ba21cd44638b322db024cba2b9c19e">ORB_SLAM2::Frame::AssignFeaturesToGrid</a></div><div class="ttdeci">void AssignFeaturesToGrid()</div><div class="ttdoc">Asigna los puntos singulares a sus celdas de la grilla. </div><div class="ttdef"><b>Definition:</b> Frame.cc:141</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_ac119d458dd562196240e72b7dbb54f3d"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#ac119d458dd562196240e72b7dbb54f3d">ORB_SLAM2::Frame::mnMinX</a></div><div class="ttdeci">static float mnMinX</div><div class="ttdoc">Vértices de la imagen antidistorsionada: mnMinX, mnMinY, mnMaxX, mnMaxY. </div><div class="ttdef"><b>Definition:</b> Frame.h:298</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">ORB_SLAM2::KeyFrame</a></div><div class="ttdoc">Cuadro clave, keyframe. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:79</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_ad3ddefb0665fb5128391a7e59a236e9a"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#ad3ddefb0665fb5128391a7e59a236e9a">ORB_SLAM2::Frame::mfLogScaleFactor</a></div><div class="ttdeci">float mfLogScaleFactor</div><div class="ttdoc">Factor de escala logarítmico. </div><div class="ttdef"><b>Definition:</b> Frame.h:284</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a194dca06186458639d46234d828afeed"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a194dca06186458639d46234d828afeed">ORB_SLAM2::Frame::mGrid</a></div><div class="ttdeci">std::vector&lt; std::size_t &gt; mGrid[FRAME_GRID_COLS][FRAME_GRID_ROWS]</div><div class="ttdef"><b>Definition:</b> Frame.h:226</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_point_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_point.html">ORB_SLAM2::MapPoint</a></div><div class="ttdoc">Cada instancia representa un mapa 3D en el sistema de referencia del mapa. </div><div class="ttdef"><b>Definition:</b> MapPoint.h:58</div></div>
<div class="ttc" id="namespace_o_r_b___s_l_a_m2_html"><div class="ttname"><a href="namespace_o_r_b___s_l_a_m2.html">ORB_SLAM2</a></div><div class="ttdoc">This file is part of ORB-SLAM2. </div><div class="ttdef"><b>Definition:</b> Converter.h:31</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_afba8ed34e98d14761be2c1922863cd65"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#afba8ed34e98d14761be2c1922863cd65">ORB_SLAM2::Frame::mvLevelSigma2</a></div><div class="ttdeci">vector&lt; float &gt; mvLevelSigma2</div><div class="ttdoc">Cuadrado de mvScaleFactos. </div><div class="ttdef"><b>Definition:</b> Frame.h:291</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_ade32bf37203ae9578e4bd9a02cc0f7c1"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#ade32bf37203ae9578e4bd9a02cc0f7c1">ORB_SLAM2::Frame::mnMaxX</a></div><div class="ttdeci">static float mnMaxX</div><div class="ttdoc">Vértices de la imagen antidistorsionada: mnMinX, mnMinY, mnMaxX, mnMaxY. </div><div class="ttdef"><b>Definition:</b> Frame.h:300</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a1979f999e1d3a858bf7db733791a477e"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a1979f999e1d3a858bf7db733791a477e">ORB_SLAM2::Frame::mvInvLevelSigma2</a></div><div class="ttdeci">vector&lt; float &gt; mvInvLevelSigma2</div><div class="ttdoc">Inversa de mvLevelSigma2. </div><div class="ttdef"><b>Definition:</b> Frame.h:293</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_afe3cee153dda7e06d5004fd959fcd88e"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#afe3cee153dda7e06d5004fd959fcd88e">ORB_SLAM2::Frame::mDescriptorsRight</a></div><div class="ttdeci">cv::Mat mDescriptorsRight</div><div class="ttdef"><b>Definition:</b> Frame.h:201</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a0dfc1a363215ad0a09303e612a1ffbe7"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a0dfc1a363215ad0a09303e612a1ffbe7">ORB_SLAM2::Frame::mDescriptors</a></div><div class="ttdeci">cv::Mat mDescriptors</div><div class="ttdoc">Descriptores ORB en el formato Mat, tal como los devuelve opencv. </div><div class="ttdef"><b>Definition:</b> Frame.h:201</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a38d30251e5bf5e44411e83b688dfac97"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a38d30251e5bf5e44411e83b688dfac97">ORB_SLAM2::Frame::mnMinY</a></div><div class="ttdeci">static float mnMinY</div><div class="ttdoc">Vértices de la imagen antidistorsionada: mnMinX, mnMinY, mnMaxX, mnMaxY. </div><div class="ttdef"><b>Definition:</b> Frame.h:302</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a95cf2ea68735ef3e8c2d820eada11bf4"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a95cf2ea68735ef3e8c2d820eada11bf4">ORB_SLAM2::Frame::SetPose</a></div><div class="ttdeci">void SetPose(cv::Mat Tcw)</div><div class="ttdoc">Setter de pose. </div><div class="ttdef"><b>Definition:</b> Frame.cc:179</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a626aef981e9fd9caff63bf93f1abf47f"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a626aef981e9fd9caff63bf93f1abf47f">ORB_SLAM2::Frame::ExtractORB</a></div><div class="ttdeci">void ExtractORB(int flag, const cv::Mat &amp;im)</div><div class="ttdoc">Procede con la extracción de descriptores ORB. </div><div class="ttdef"><b>Definition:</b> Frame.cc:165</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_abf6a631b787270da2d5b3c0f53615b62"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#abf6a631b787270da2d5b3c0f53615b62">ORB_SLAM2::Frame::cy</a></div><div class="ttdeci">static float cy</div><div class="ttdoc">Parámetro intrínseco. </div><div class="ttdef"><b>Definition:</b> Frame.h:147</div></div>
<div class="ttc" id="_o_r_b_vocabulary_8h_html"><div class="ttname"><a href="_o_r_b_vocabulary_8h.html">ORBVocabulary.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a68bbc187861a8e5c0ed9d92b5308c2cb"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a68bbc187861a8e5c0ed9d92b5308c2cb">ORB_SLAM2::Frame::mBowVec</a></div><div class="ttdeci">DBoW2::BowVector mBowVec</div><div class="ttdoc">Vector BoW correspondiente a los puntos singulares. </div><div class="ttdef"><b>Definition:</b> Frame.h:195</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a4c54c9963da838cd6fa83a65930bd1b7"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a4c54c9963da838cd6fa83a65930bd1b7">ORB_SLAM2::Frame::mpORBvocabulary</a></div><div class="ttdeci">ORBVocabulary * mpORBvocabulary</div><div class="ttdoc">Vocabulario BOW para clasificar descriptores. </div><div class="ttdef"><b>Definition:</b> Frame.h:119</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_aab180286bac29f4e030ce850c51c435c"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#aab180286bac29f4e030ce850c51c435c">ORB_SLAM2::Frame::mfScaleFactor</a></div><div class="ttdeci">float mfScaleFactor</div><div class="ttdoc">Factor de escala entre niveles de la pirámide. </div><div class="ttdef"><b>Definition:</b> Frame.h:281</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a8dc5552a9cb0f5aa8ba2c13b5e7c95fb"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a8dc5552a9cb0f5aa8ba2c13b5e7c95fb">ORB_SLAM2::Frame::camaraModo</a></div><div class="ttdeci">int camaraModo</div><div class="ttdoc">Modo de cámara, 0 normal, 1 fisheye sin distorsión. </div><div class="ttdef"><b>Definition:</b> Frame.h:157</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a226a0adc90bc7a09502fc4db00ee20d7"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a226a0adc90bc7a09502fc4db00ee20d7">ORB_SLAM2::Frame::fy</a></div><div class="ttdeci">static float fy</div><div class="ttdoc">Parámetro intrínseco. </div><div class="ttdef"><b>Definition:</b> Frame.h:143</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a4315630bb510b424d8b089975135199a"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a4315630bb510b424d8b089975135199a">ORB_SLAM2::Frame::mOw</a></div><div class="ttdeci">cv::Mat mOw</div><div class="ttdoc">Vector centro de cámara, igual al vector traslación. </div><div class="ttdef"><b>Definition:</b> Frame.h:340</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_ac63dd82413eba002462109e625207ab4"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#ac63dd82413eba002462109e625207ab4">ORB_SLAM2::Frame::mnMaxY</a></div><div class="ttdeci">static float mnMaxY</div><div class="ttdoc">Vértices de la imagen antidistorsionada: mnMinX, mnMinY, mnMaxX, mnMaxY. </div><div class="ttdef"><b>Definition:</b> Frame.h:304</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a31b2fa3a66f2855ec0c71c9ba34cfa8f"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a31b2fa3a66f2855ec0c71c9ba34cfa8f">ORB_SLAM2::Frame::mtcw</a></div><div class="ttdeci">cv::Mat mtcw</div><div class="ttdoc">Vector t de traslación. </div><div class="ttdef"><b>Definition:</b> Frame.h:334</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a010327bee872485894b5905d17462086"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a010327bee872485894b5905d17462086">ORB_SLAM2::Frame::mfGridElementHeightInv</a></div><div class="ttdeci">static float mfGridElementHeightInv</div><div class="ttdoc">mfGridElementHeightInv es la inversa del altoo de la celda en píxeles. </div><div class="ttdef"><b>Definition:</b> Frame.h:225</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a3be6708cfd359fae30307f9408abd6f9"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a3be6708cfd359fae30307f9408abd6f9">ORB_SLAM2::Frame::mTcw</a></div><div class="ttdeci">cv::Mat mTcw</div><div class="ttdoc">Pose de la cámara. </div><div class="ttdef"><b>Definition:</b> Frame.h:259</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_ab505e3f86afa1c3d16b98fda89ec394c"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#ab505e3f86afa1c3d16b98fda89ec394c">ORB_SLAM2::Frame::fx</a></div><div class="ttdeci">static float fx</div><div class="ttdoc">Parámetros intrínsecos fx, fy, cx, cy. </div><div class="ttdef"><b>Definition:</b> Frame.h:141</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a0929e100e3380dba1baba12dfa8904c4"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a0929e100e3380dba1baba12dfa8904c4">ORB_SLAM2::Frame::isInFrustum</a></div><div class="ttdeci">bool isInFrustum(MapPoint *pMP, float viewingCosLimit)</div><div class="ttdoc">Indica si un determinado punto 3D se encuentra en el subespacio visual (frustum) del cuadro...</div><div class="ttdef"><b>Definition:</b> Frame.cc:204</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_afc2f7799428918dbbf46f7dfc4ccd59d"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#afc2f7799428918dbbf46f7dfc4ccd59d">ORB_SLAM2::Frame::mfGridElementWidthInv</a></div><div class="ttdeci">static float mfGridElementWidthInv</div><div class="ttdoc">mfGridElementWidthInv es la inversa del ancho de la celda en píxeles. </div><div class="ttdef"><b>Definition:</b> Frame.h:219</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a48e791ae28b483211dad6b3474027935"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a48e791ae28b483211dad6b3474027935">ORB_SLAM2::Frame::mvpMapPoints</a></div><div class="ttdeci">std::vector&lt; MapPoint * &gt; mvpMapPoints</div><div class="ttdoc">Vector de puntos 3D del mapa asociados a los puntos singulares. </div><div class="ttdef"><b>Definition:</b> Frame.h:208</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_afda03a992077579e0ed3c20240eef276"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#afda03a992077579e0ed3c20240eef276">ORB_SLAM2::Frame::mRwc</a></div><div class="ttdeci">cv::Mat mRwc</div><div class="ttdoc">Matriz de rotación inversa, del mundo respecto de la cámara. </div><div class="ttdef"><b>Definition:</b> Frame.h:337</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a96ec2c272f2ecea3f94b8472add80478"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a96ec2c272f2ecea3f94b8472add80478">ORB_SLAM2::Frame::GetRotationInverse</a></div><div class="ttdeci">cv::Mat GetRotationInverse()</div><div class="ttdoc">Devuelve la inversa de la rotación. </div><div class="ttdef"><b>Definition:</b> Frame.h:91</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a922a340f438ed0ddd2d7d2a9f95872b6"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a922a340f438ed0ddd2d7d2a9f95872b6">ORB_SLAM2::Frame::GetFeaturesInArea</a></div><div class="ttdeci">vector&lt; size_t &gt; GetFeaturesInArea(const float &amp;x, const float &amp;y, const float &amp;r, const int minLevel=-1, const int maxLevel=-1) const</div><div class="ttdoc">Selecciona los puntos dentro de una ventana cuadrada de centro x,y y lado r. </div><div class="ttdef"><b>Definition:</b> Frame.cc:267</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a6508d43259538370dcb77911122dc85b"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a6508d43259538370dcb77911122dc85b">ORB_SLAM2::Frame::mK</a></div><div class="ttdeci">cv::Mat mK</div><div class="ttdoc">Matriz K intrínseca, de cámara. </div><div class="ttdef"><b>Definition:</b> Frame.h:137</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_aa05cc57f36b5b04a2e1690e576c93fc8"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#aa05cc57f36b5b04a2e1690e576c93fc8">ORB_SLAM2::Frame::mvbOutlier</a></div><div class="ttdeci">std::vector&lt; bool &gt; mvbOutlier</div><div class="ttdoc">Flag que indica si hay outliers asociados en mvpMapPoints. </div><div class="ttdef"><b>Definition:</b> Frame.h:212</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a950131e5ed7fca2a73fc5a50e6d9b2de"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a950131e5ed7fca2a73fc5a50e6d9b2de">ORB_SLAM2::Frame::mb</a></div><div class="ttdeci">float mb</div><div class="ttdoc">No usado en monocular. </div><div class="ttdef"><b>Definition:</b> Frame.h:165</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a55d7bd3fa5d3fa8d2ecf18609e91f98e"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a55d7bd3fa5d3fa8d2ecf18609e91f98e">ORB_SLAM2::Frame::mvScaleFactors</a></div><div class="ttdeci">vector&lt; float &gt; mvScaleFactors</div><div class="ttdoc">Vector de factores de escala de cada nivel de la pirámide. </div><div class="ttdef"><b>Definition:</b> Frame.h:287</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a0035828f1744f1bdd4ae8681e7cbbd32"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a0035828f1744f1bdd4ae8681e7cbbd32">ORB_SLAM2::Frame::N</a></div><div class="ttdeci">int N</div><div class="ttdoc">Cantidad de puntos singulares. </div><div class="ttdef"><b>Definition:</b> Frame.h:174</div></div>
<div class="ttc" id="_frame_8h_html_a3ef79fa8924a9c5df3cddac58a52ab0c"><div class="ttname"><a href="_frame_8h.html#a3ef79fa8924a9c5df3cddac58a52ab0c">FRAME_GRID_COLS</a></div><div class="ttdeci">#define FRAME_GRID_COLS</div><div class="ttdef"><b>Definition:</b> Frame.h:38</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a9f57238f88850695d8cf032b5af0dad6"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a9f57238f88850695d8cf032b5af0dad6">ORB_SLAM2::Frame::mbInitialComputations</a></div><div class="ttdeci">static bool mbInitialComputations</div><div class="ttdoc">Esta variable se pone en uno con un argumento del constructor solamente cuando se crea el primer Fram...</div><div class="ttdef"><b>Definition:</b> Frame.h:310</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_aef15cff1b0d7572f49975d3200ffd140"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#aef15cff1b0d7572f49975d3200ffd140">ORB_SLAM2::Frame::mDistCoef</a></div><div class="ttdeci">cv::Mat mDistCoef</div><div class="ttdoc">Coeficientes de distorsión de cámara mDistCoef. </div><div class="ttdef"><b>Definition:</b> Frame.h:154</div></div>
<div class="ttc" id="_frame_8h_html_a9550f0488f3dac9a5c56f0d3c07c01c1"><div class="ttname"><a href="_frame_8h.html#a9550f0488f3dac9a5c56f0d3c07c01c1">FRAME_GRID_ROWS</a></div><div class="ttdeci">#define FRAME_GRID_ROWS</div><div class="ttdef"><b>Definition:</b> Frame.h:37</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_aa43d601e841ddb7a9f100b0b9afd3b10"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#aa43d601e841ddb7a9f100b0b9afd3b10">ORB_SLAM2::Frame::Frame</a></div><div class="ttdeci">Frame()</div><div class="ttdoc">El constructor sin argumentos crea un Frame sin inicialización. </div><div class="ttdef"><b>Definition:</b> Frame.cc:39</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a13737fa65f0ce693275f1919240bac35"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a13737fa65f0ce693275f1919240bac35">ORB_SLAM2::Frame::mvKeysUn</a></div><div class="ttdeci">std::vector&lt; cv::KeyPoint &gt; mvKeysUn</div><div class="ttdoc">Vector de puntos antidistorsionados, mvKeys corregidos según los coeficientes de distorsión. </div><div class="ttdef"><b>Definition:</b> Frame.h:183</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a2a97fc690d8c1cd5e975d19440a31657"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a2a97fc690d8c1cd5e975d19440a31657">ORB_SLAM2::Frame::UndistortKeyPoints</a></div><div class="ttdeci">void UndistortKeyPoints()</div><div class="ttdoc">Calcula los puntos singulares de mvKeysUn. </div><div class="ttdef"><b>Definition:</b> Frame.cc:362</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_adb622f403aea686f757df4e884ea622a"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#adb622f403aea686f757df4e884ea622a">ORB_SLAM2::Frame::antidistorsionarProyeccionEquidistante</a></div><div class="ttdeci">void antidistorsionarProyeccionEquidistante(cv::Mat &amp;puntos)</div><div class="ttdoc">Antidistorsiona puntos según el modelo de cámara fisheye de proyección equidistante sin coeficientes ...</div><div class="ttdef"><b>Definition:</b> Frame.cc:448</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html_a5f2803f215bc30016bd0833d8c7d5942"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html#a5f2803f215bc30016bd0833d8c7d5942">ORB_SLAM2::Frame::cx</a></div><div class="ttdeci">static float cx</div><div class="ttdoc">Parámetro intrínseco. </div><div class="ttdef"><b>Definition:</b> Frame.h:145</div></div>
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